Abstract
The aim of This study is to investigate vibration control in horizontal and veitical planes of a single-link flexible manipulator. Three control approaches are compared. The first approach is a proportional integral controller with velocity feedback (PIV): the controller gains are chosen heuristically. In the second approach, physical analysis is used to derive a continuous-time mathematical model which is then used to design a mixed sensitivity H controller. The controller has to be discretized for digital implementation. The final approach is pole-placement control based on a discrete-time plant model obtained from system identification. Pole positions are chosen by consideration of sensitivity function characteristics. The final approach is found to be most successful due primarily to the ease by which the main control system characteristics can be understood and modified.
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